Lidar

Abstract

A LIDAR includes an emission module, a beam adjustment module and a receiving module, where the beam adjustment module includes a first scanning apparatus and a second scanning apparatus. The emission module is configured to emit a laser beam. The first scanning apparatus is rotated in a first set direction to drive the laser beam to scan along a first direction, and the second scanning apparatus is rotated in a second set direction to drive the laser beam to scan along a second direction. A receiving beam is formed after the laser beam is reflected in the detection region, and the receiving beam is reflected by the second mirror of the second scanning apparatus and then received by the receiving module. The size of the first scanning apparatus can be reduced.

What is claimed is: 
     
         1 . A LIDAR, comprising: an emission module, a beam adjustment module, and a receiving module, wherein the beam adjustment module comprises a first scanning apparatus and a second scanning apparatus, and the second scanning apparatus comprises a first mirror and a second mirror, wherein:
 the emission module comprises at least one emission device, the emission device is configured to emit a laser beam, the laser beam is sequentially reflected by the first scanning apparatus and the first mirror of the second scanning apparatus and then directed toward a detection region, the first scanning apparatus is rotated in a first set direction to drive the laser beam to scan along a first direction, and the second scanning apparatus is rotated in a second set direction to drive the laser beam to scan along a second direction; and   an echo beam is formed after the laser beam is reflected in the detection region, the echo beam is reflected by the second mirror of the second scanning apparatus and then received by the receiving module, and the receiving module comprises at least two receiving devices arranged into an array.   
     
     
         2 . The LiDAR according to  claim 1 , wherein the laser beam forms multiple scanning lines arranged along the first direction in the detection region, receiving beams corresponding to at least two of the multiple scanning lines are received by the same receiving device, and scanning lines emitted simultaneously in the multiple scanning lines are received by different receiving devices. 
     
     
         3 . The LiDAR according to  claim 2 , wherein at least two receiving devices are arranged into multiple columns, and receiving devices in two adjacent columns are staggered, so that main optical axes for receiving echo beams by any adjacent receiving devices are staggered from each other. 
     
     
         4 . The LiDAR according to  claim 2 , wherein in an edge region of the detection region, echo beams corresponding to a first number of the scanning lines are received by the same receiving device, and in a central region of the detection region, echo beams corresponding to a second number of the scanning lines are received by the same receiving device, and the second number is greater than the first number. 
     
     
         5 . The LiDAR according to  claim 1 , wherein the first mirror and the second mirror are adjacent, an included angle between the first mirror and the second mirror is twice a first angle and twice a second angle, the first angle is an included angle between an emission laser beam emitted to the first mirror and the first mirror, and the second angle is an included angle between an echo beam emitted from the second mirror and the second mirror. 
     
     
         6 . The LiDAR according to  claim 1 , wherein the first scanning apparatus is a galvanometer and the second scanning apparatus is a rotating mirror. 
     
     
         7 . The LiDAR according to  claim 1 , wherein the emission module comprises multiple emission devices, the multiple emission devices are divided into multiple groups, the same group of emission devices simultaneously emit laser beams, and different groups of emission devices emit laser beams at preset time intervals. 
     
     
         8 . The LiDAR according to  claim 7 , wherein spacing between emission channels of two adjacent emission devices in the same group of the emission devices is greater than preset spacing. 
     
     
         9 . The LiDAR according to  claim 1 , wherein a diameter of a light spot formed by the laser beam within a first preset distance is greater than a preset length. 
     
     
         10 . The LiDAR according to  claim 1 , wherein a time interval between two adjacent emissions of laser beams performed by the emission module is greater than preset duration.